Integrated harmonic reducer for integrated joint

Abstract

The utility model relates to the technical field of precision mechanical transmission, in particular to an integrated harmonic reducer for an integrated joint. An integrated harmonic reducer for an integrated joint comprises a cylindrical shell, an output flange, a hollow shaft and a harmonic reducing mechanism, the harmonic reducing mechanism comprises a wave generator, a flexible gear and a rigid gear which are coaxially arranged, the wave generator is composed of a hollow cam shaft and a flexible bearing arranged on the middle section of the cam shaft in an interference sleeving mode, and the flexible gear is a hat-shaped flexible gear. The open end of the rigid gear is sleeved outside the flexible bearing, an outer tooth portion is arranged on the surface of the rigid gear, an axially widened inner tooth portion is arranged on the inner circumference of the rigid gear, the axial width of the inner tooth portion is larger than the width of the installation portion of the rigid gear, the inner tooth portion is meshed with the outer tooth portion of the flexible gear, and the hollow shaft sequentially penetrates through the cam shaft, the flexible gear and a central through hole of the output flange. The axial width of the inner tooth part of the rigid gear is larger than that of the mounting part, gear meshing area is increased, bearing capacity is improved, stress is dispersed, and service life is prolonged.

Description

Technical Field

[0001] This utility model relates to the field of precision mechanical transmission technology, and in particular to an integrated harmonic reducer for an integrated joint. Background Technology

[0002] Integrated joint designs improve the compactness, precision, and dynamic performance of robots and automated equipment by integrating actuators (such as motors), sensors (such as encoders and torque sensors), and reduction mechanisms (such as harmonic reducers). However, despite the crucial role of integrated harmonic reducers in integrated joints, existing technologies still suffer from several drawbacks, primarily including complex structures, short lifespans, high costs, and insufficient transmission efficiency. A detailed analysis follows:

[0003] (a) Complex structure and insufficient integration: Traditional harmonic reducers have a loose structure or require additional support components due to the limited meshing area between the rigid wheel and the flexible wheel, which affects the overall integration.

[0004] (b) Insufficient gear meshing performance and short life: The flexible gear of traditional harmonic reducer is prone to fatigue fracture and the flexible bearing has a short life.

[0005] (c) Low transmission efficiency: Traditional harmonic reducers suffer efficiency loss due to friction and flexspline deformation;

[0006] (d) Heat dissipation and lubrication issues: Traditional designs suffer from poor heat dissipation and are prone to lubrication failure;

[0007] (e) High cost: Traditional harmonic reducers rely on high-cost flexible gear processing and complex assembly. Utility Model Content

[0008] The technical problem to be solved by this utility model is to provide an integrated harmonic reducer for an integrated joint in order to solve the problems of complex structure, short life, high cost and insufficient transmission efficiency of the existing technology in the background.

[0009] The technical solution adopted by this utility model to solve its technical problem is: an integrated harmonic reducer for a joint, comprising a cylindrical shell, an output flange, a hollow shaft, and a harmonic reduction mechanism.

[0010] The harmonic reduction mechanism includes a wave generator, a flexible wheel, and a rigid wheel arranged coaxially. The wave generator consists of a hollow camshaft and a flexible bearing that is interference-fitted into the middle section of the camshaft. The flexible wheel is a top-hat shaped flexible wheel with its open end fitted outside the flexible bearing and its surface having external teeth. The inner circumference of the rigid wheel has an axially widened internal tooth, the axial width of which is greater than the width of the mounting part of the rigid wheel. The internal tooth meshes with the external tooth of the flexible wheel. The hollow shaft passes through the central through hole of the camshaft, the flexible wheel, and the output flange in sequence.

[0011] By coaxially arranging the wave generator, flexible gear, and rigid gear, and using a hollow shaft to run through all core components, a high degree of integration is achieved, reducing external connection structures and improving overall rigidity and compactness. The axial width of the internal gear section is greater than the width of the mounting section, increasing the gear meshing area, improving load-bearing capacity, dispersing stress, and extending service life; it also optimizes the power transmission path, reduces energy loss, and facilitates internal wiring.

[0012] According to one embodiment of the present invention, the camshaft includes a bearing mounting section, one side of which is provided with a limiting flange, and the other side of which a mounting flange with a sealing ring extends axially from the central through hole.

[0013] The limiting flange ensures accurate axial positioning of the flexible bearing, preventing wear or failure caused by bearing misalignment; the sealing ring mounting flange provides a mounting position for the sealing structure, preventing lubricating grease leakage or the entry of external contaminants, and extending the life of the bearing and gears.

[0014] According to one embodiment of the present invention, the flexible bearing includes an inner ring, an outer ring, and rollers, with the rollers installed in the gap between the inner ring and the outer ring, and the width of the inner ring being smaller than the width of the outer ring.

[0015] In asymmetric bearings, the inner ring width is smaller than the outer ring, which reduces stress concentration in the inner ring, improves bearing fatigue life, improves load distribution, reduces friction loss, and enhances transmission efficiency.

[0016] According to one embodiment of the present invention, the flexible wheel includes a cylindrical part and a flange part, one end of the cylindrical part and the flange part are provided with a transition section, and the other end of the cylindrical part is provided with an external toothed part.

[0017] A transition section is provided between the cylindrical section and the flange section. This transition section enhances the structural strength of the flexible gear, reduces stress concentration, and avoids the problem of easy breakage at the root of traditional flexible gears. The external teeth are centrally arranged and located at one end of the cylindrical section to ensure that the meshing area is aligned with the load transmission path, thereby improving transmission accuracy.

[0018] According to one embodiment of the present invention, the flange portion is connected to the output flange.

[0019] The flexible wheel flange is fixedly connected to the output flange, reducing intermediate transmission links, improving rigidity and response speed, and simplifying assembly.

[0020] According to one embodiment of the present invention, a crossed roller bearing is provided in the area between the cylindrical portion and the flange portion.

[0021] Crossed roller bearings provide multi-directional load capacity, suppress flexural deformation, and improve motion accuracy; a single crossed roller bearing can replace multiple ordinary bearings, saving space and reducing friction.

[0022] According to one embodiment of the present invention, the axial width of the internal tooth portion is 1.2 to 1.5 times the width of the rigid wheel mounting portion.

[0023] This design balances load-bearing capacity with structural compactness, avoiding excessive widening that could lead to increased weight or decreased stiffness.

[0024] According to one embodiment of the present invention, one end of the cylindrical outer shell is connected to an end cap, and the two ends of the hollow shaft pass through the central through holes of the output flange and the end cap, respectively.

[0025] The end caps serve to prevent dust and dirt; the hollow shaft is open at both ends, which facilitates the introduction of cooling medium or internal wiring through the hollow shaft, thereby improving heat dissipation and functionality.

[0026] The beneficial effects of this utility model are:

[0027] (1) The hollow shaft through design, the hat-shaped flexible wheel and the cross roller bearing are integrated to significantly reduce the volume and make it suitable for robot joints with limited space;

[0028] (2) Widening of the inner teeth of the rigid wheel, optimization of the flexible bearing, and design of the transition section of the flexible wheel work together to reduce stress concentration and extend service life;

[0029] (3) Optimize the meshing tooth profile, and reduce friction loss with asymmetric bearings, thus significantly improving transmission efficiency;

[0030] (4) Integrated flexible wheel, reduced bearing quantity and structure, simplified manufacturing cost, and sealed design to reduce maintenance requirements;

[0031] (5) The hollow shaft design supports internal wiring or cooling, and is suitable for intelligent and highly dynamic application scenarios. Attached Figure Description

[0032] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0033] Figure 1 This is a schematic diagram of the structure of this utility model.

[0034] Figure 2 This is a cross-sectional view of the present invention.

[0035] Figure 3 This is a schematic diagram of the harmonic deceleration mechanism in this utility model.

[0036] Figure 4 This is an assembly drawing of the flexible wheel and the rigid wheel in this utility model.

[0037] Figure 5 This is a schematic diagram of the flexible wheel in this utility model.

[0038] Figure 6 yes Figure 5 A sectional view.

[0039] Figure 7 This is a schematic diagram of the camshaft structure in this utility model.

[0040] Figure 8 This is a schematic diagram of the flexible bearing in this utility model.

[0041] In the diagram: 1. Flexible wheel; 11. Cylindrical section; 111. External gear section; 12. Flange section; 13. Transition section; 2. Flexible bearing; 21. Inner ring; 22. Outer ring; 23. Roller; 3. Camshaft; 31. Bearing mounting section; 32. Limiting flange; 33. Mounting flange; 4. Hollow shaft; 5. Wave generator; 6. Output flange; 7. Rigid wheel; 71. Internal gear section; 8. Crossed roller bearing; 9. Cylindrical outer shell; 10. End cap. Detailed Implementation

[0042] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the present invention, and therefore only show the components relevant to the present invention.

[0043] like Figure 1 and Figure 2 As shown, an integrated harmonic reducer for a single joint includes a cylindrical housing 9, an output flange 6, a hollow shaft 4, and a harmonic reduction mechanism, as shown. Figure 3 As shown, the harmonic reduction mechanism includes a wave generator 5, a flexible wheel 1, and a rigid wheel 7 arranged coaxially. The wave generator 5 consists of a hollow camshaft 3 and a flexible bearing 2 that is interference-fitted into the middle section of the camshaft 3. The flexible wheel 1 is a top-hat shaped flexible wheel, with its open end fitted outside the flexible bearing 2, and its surface is provided with external teeth 111. The inner circumference of the rigid wheel 7 is provided with an axially widened internal tooth 71, the axial width of which is greater than the width of the mounting portion of the rigid wheel 7. The internal tooth 71 meshes with the external teeth 111 of the flexible wheel 1, as shown in the diagram. Figure 4 As shown, the hollow shaft 4 passes through the central through-hole of the camshaft 3, the flexible wheel 1, and the output flange 6 in sequence. The axial width of the internal gear 71 is greater than the width of the mounting part of the rigid wheel 7, which increases the gear meshing area, improves the load-bearing capacity, and reduces structural redundancy.

[0044] Preferably, the axial width of the internal tooth portion 71 is 1.2 to 1.5 times the width of the mounting portion of the rigid wheel 7, which increases the meshing area, distributes the load, reduces the stress on a single tooth, and extends the gear life.

[0045] like Figure 5 and Figure 6As shown, the flexible wheel 1 includes a cylindrical portion 11 and a flange portion 12. One end of the cylindrical portion 11 and the flange portion 12 have a transition section 13. The other end of the cylindrical portion 11 has an external toothed portion 111. The flange portion 12 is connected to the output flange 6. A crossed roller bearing 8 is provided in the area between the cylindrical portion 11 and the flange portion 12. The flexible wheel 1 adopts a top hat-shaped structure, and the cylindrical portion 11 and the flange portion 12 are integrated into one unit, reducing connecting parts and improving rigidity. The crossed roller bearing 8 is provided between the flange portion 12 and the output flange 6 of the flexible wheel 1 to enhance support stability and avoid the space occupied by additional bearing housings.

[0046] like Figure 7 As shown, the camshaft 3 includes a bearing mounting section 31. A limiting flange 32 is provided on one side of the bearing mounting section 31, and a mounting flange 33 with a sealing ring extends axially from the central through hole on the other side. Figure 8 As shown, the flexible bearing 2 includes an inner ring 21, an outer ring 22 and rollers 23. The rollers 23 are installed in the gap between the inner ring 21 and the outer ring 22, and the width of the inner ring 21 is smaller than the width of the outer ring 22.

[0047] The inner ring 21 is narrower than the outer ring 22, reducing stress concentration and improving bearing life. The camshaft 3 has a limiting flange 32 and a sealing ring mounting flange 33 to ensure accurate positioning of the flexible bearing 2 and reduce off-center wear. The outer ring 22 is wider, increasing the heat dissipation area and optimizing the distribution of rollers 23 to improve lubrication.

[0048] The hollow shaft 4 passes through the camshaft 3, the flexible wheel 1, and the output flange 6, forming a direct power transmission path and reducing energy loss in intermediate links. The camshaft 3 has a sealing ring mounting flange 33 at its end to prevent lubrication leakage and maintain long-term efficient operation.

[0049] One end of the cylindrical outer shell 9 is connected to an end cap 10 to prevent contaminants from entering; the two ends of the hollow shaft 4 pass through the central through holes of the output flange 6 and the end cap 10 respectively, allowing the introduction of forced cooling channels (such as air cooling or liquid cooling).

[0050] The working principle is as follows: Under the drive of the hollow shaft 4, the wave generator 5 causes the cylindrical part 11 of the flexible wheel 1 to undergo periodic elastic deformation, which drives the external tooth part 111 and the internal tooth part 71 of the rigid wheel 7 to generate relative motion, thereby achieving deceleration output.

[0051] The internal tooth section 71 of the rigid wheel 7 is widened, and the top-hat shaped flexible wheel 1 and the crossed roller bearing 8 are integrated to improve compactness and rigidity, and optimize the structure. The limiting design of the flexible bearing 2 and the increase of the tooth meshing area reduce wear and fatigue, thereby improving service life. The through design of the hollow shaft 4 and the optimized sealing reduce energy loss and improve efficiency. The assembly process is simplified, the reliance on high-precision parts is reduced, the cost is controlled, and heat dissipation and lubrication are enhanced. The above improvements significantly improve the applicability of the integrated harmonic reducer in fields such as robotics and automation equipment, and are especially suitable for scenarios with high precision and long service life requirements.

[0052] Based on the above-described preferred embodiments of this utility model, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the technical concept of this utility model. The technical scope of this utility model is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. An integrated harmonic reducer for a single joint, comprising a cylindrical housing (9), an output flange (6), a hollow shaft (4), and a harmonic reduction mechanism, characterized in that: The harmonic deceleration mechanism includes a wave generator (5), a flexible wheel (1), and a rigid wheel (7) arranged coaxially. The wave generator (5) consists of a hollow camshaft (3) and a flexible bearing (2) that is interference-fitted into the middle section of the camshaft (3). The flexible wheel (1) is a top hat-shaped flexible wheel with its open end fitted outside the flexible bearing (2) and an external tooth (111) on its surface. The inner circumference of the rigid wheel (7) is provided with an axially widened internal tooth (71). The axial width of the internal tooth (71) is greater than the width of the mounting part of the rigid wheel (7). The internal tooth (71) meshes with the external tooth (111) of the flexible wheel (1). The hollow shaft (4) passes through the central through hole of the camshaft (3), the flexible wheel (1), and the output flange (6) in sequence.

2. The integrated harmonic reducer for an integrated joint according to claim 1, characterized in that: The camshaft (3) includes a bearing mounting section (31), one side of which is provided with a limiting flange (32), and the other side of which a mounting flange (33) with a sealing ring extends axially from the central through hole.

3. The integrated harmonic reducer for an integrated joint according to claim 1, characterized in that: The flexible bearing (2) includes an inner ring (21), an outer ring (22) and a roller (23). The roller (23) is installed in the gap between the inner ring (21) and the outer ring (22), and the width of the inner ring (21) is smaller than the width of the outer ring (22).

4. The integrated harmonic reducer for an integrated joint according to claim 1, characterized in that: The flexible wheel (1) includes a cylindrical part (11) and a flange part (12). One end of the cylindrical part (11) and the flange part (12) are provided with a transition section (13), and the other end of the cylindrical part (11) is provided with an external toothed part (111).

5. The integrated harmonic reducer for an integrated joint according to claim 4, characterized in that: The flange (12) is connected to the output flange (6).

6. The integrated harmonic reducer for an integrated joint according to claim 4, characterized in that: A cross roller bearing (8) is provided in the area between the cylindrical part (11) and the flange part (12).

7. The integrated harmonic reducer for an integrated joint according to claim 1, characterized in that: The axial width of the internal toothed part (71) is 1.2 to 1.5 times the width of the mounting part of the rigid wheel (7).

8. The integrated harmonic reducer for an integrated joint according to claim 1, characterized in that: One end of the cylindrical shell (9) is connected to an end cap (10), and the two ends of the hollow shaft (4) pass through the central through holes of the output flange (6) and the end cap (10), respectively.

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